CN114858171A - Method for determining whether a vehicle is driving on a road contained in digital map data - Google Patents
Method for determining whether a vehicle is driving on a road contained in digital map data Download PDFInfo
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- CN114858171A CN114858171A CN202111532848.5A CN202111532848A CN114858171A CN 114858171 A CN114858171 A CN 114858171A CN 202111532848 A CN202111532848 A CN 202111532848A CN 114858171 A CN114858171 A CN 114858171A
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/34—Route searching; Route guidance
- G01C21/3453—Special cost functions, i.e. other than distance or default speed limit of road segments
- G01C21/3461—Preferred or disfavoured areas, e.g. dangerous zones, toll or emission zones, intersections, manoeuvre types, segments such as motorways, toll roads, ferries
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/26—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network
- G01C21/28—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00 specially adapted for navigation in a road network with correlation of data from several navigational instruments
- G01C21/30—Map- or contour-matching
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- B—PERFORMING OPERATIONS; TRANSPORTING
- B60—VEHICLES IN GENERAL
- B60W—CONJOINT CONTROL OF VEHICLE SUB-UNITS OF DIFFERENT TYPE OR DIFFERENT FUNCTION; CONTROL SYSTEMS SPECIALLY ADAPTED FOR HYBRID VEHICLES; ROAD VEHICLE DRIVE CONTROL SYSTEMS FOR PURPOSES NOT RELATED TO THE CONTROL OF A PARTICULAR SUB-UNIT
- B60W40/00—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models
- B60W40/02—Estimation or calculation of non-directly measurable driving parameters for road vehicle drive control systems not related to the control of a particular sub unit, e.g. by using mathematical models related to ambient conditions
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3807—Creation or updating of map data characterised by the type of data
- G01C21/3815—Road data
- G01C21/3819—Road shape data, e.g. outline of a route
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C21/00—Navigation; Navigational instruments not provided for in groups G01C1/00 - G01C19/00
- G01C21/38—Electronic maps specially adapted for navigation; Updating thereof
- G01C21/3804—Creation or updating of map data
- G01C21/3833—Creation or updating of map data characterised by the source of data
- G01C21/3844—Data obtained from position sensors only, e.g. from inertial navigation
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- G—PHYSICS
- G01—MEASURING; TESTING
- G01C—MEASURING DISTANCES, LEVELS OR BEARINGS; SURVEYING; NAVIGATION; GYROSCOPIC INSTRUMENTS; PHOTOGRAMMETRY OR VIDEOGRAMMETRY
- G01C22/00—Measuring distance traversed on the ground by vehicles, persons, animals or other moving solid bodies, e.g. using odometers, using pedometers
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- G—PHYSICS
- G07—CHECKING-DEVICES
- G07C—TIME OR ATTENDANCE REGISTERS; REGISTERING OR INDICATING THE WORKING OF MACHINES; GENERATING RANDOM NUMBERS; VOTING OR LOTTERY APPARATUS; ARRANGEMENTS, SYSTEMS OR APPARATUS FOR CHECKING NOT PROVIDED FOR ELSEWHERE
- G07C5/00—Registering or indicating the working of vehicles
- G07C5/02—Registering or indicating driving, working, idle, or waiting time only
- G07C5/04—Registering or indicating driving, working, idle, or waiting time only using counting means or digital clocks
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- G—PHYSICS
- G08—SIGNALLING
- G08G—TRAFFIC CONTROL SYSTEMS
- G08G1/00—Traffic control systems for road vehicles
- G08G1/09—Arrangements for giving variable traffic instructions
- G08G1/0962—Arrangements for giving variable traffic instructions having an indicator mounted inside the vehicle, e.g. giving voice messages
- G08G1/0968—Systems involving transmission of navigation instructions to the vehicle
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Abstract
The invention relates to a method for determining whether a motor vehicle is driving on a road contained in digital map data, wherein the method (1, 20) comprises the following steps: detecting first absolute position data of the motor vehicle by means of an absolute positioning system and first vehicle mileage data by means of an odometer system of the motor vehicle at a first time during operation of the motor vehicle (2); detecting further absolute position data of the motor vehicle by means of an absolute positioning system and further vehicle mileage data (3) by means of an odometer system at least one further moment during operation of the motor vehicle different from the first moment; determining whether the motor vehicle is driving on a road contained in digital map data based on the digital map data, the first absolute position data, the first vehicle range data, the further absolute position data and the further vehicle range data and a map matching algorithm (4).
Description
Technical Field
The invention relates to a method for determining whether a motor vehicle is driving on a road contained in digital map data, with which it is possible to reliably identify a new road not contained in the digital map data even if the distance between the new road not contained in the digital map data and the road contained in the digital map data is small.
Background
A driver assistance system for assisting a driver in guiding a motor vehicle and a navigation system for guiding the driver or the motor vehicle to a destination may use digital maps.
As the complexity of driver assistance systems continues to increase, high-precision digital map data become more and more meaningful. High-precision digital maps can provide information about precise lane directions, support situational interpretation and behavior decisions, and can play a large role in precise and robust vehicle self-localization. However, it has proven to be disadvantageous here that digital map data are quickly outdated, for example due to the construction of new roads.
This is important, for example, in the autonomous driving function. Therefore, there is a great safety risk if an autonomously traveling vehicle travels on a new road that is not contained in the digital map material used by the autonomously traveling vehicle, and in particular if this situation is erroneously interpreted as that the autonomously traveling vehicle travels on an adjacent road contained in the digital map material.
In general, data of an absolute positioning system of a motor vehicle, for example position data obtained by a Global Navigation Satellite System (GNSS), are used here in order to identify whether the motor vehicle is located on a road contained in digital map data or whether the motor vehicle has already traveled the road, or in order to identify new roads which have not been contained in the digital map data so far. The vehicle position determined via the GNSS receiver is mapped on a road network of a digital map, for example, using a map matching method. However, it has proved to be disadvantageous in this case that the unknown link not contained in the digital map data can therefore only be reliably identified if it is at a large distance, for example greater than 100m, from the already known link contained in the digital map data. However, if the distance to a known road is small and this distance is less than 100m, for example, it cannot be reliably determined whether a motor vehicle is located or is already located on the road contained in the digital map material.
A self-learning map or a device for creating and storing a digital map for a vehicle on the basis of environmental sensors, vehicle-to-X communication (Fahrzeug-zu-X-kommuneration) and a satellite navigation system is known from document WO2009/133185a1, wherein no navigation map data are used for this purpose. Furthermore, the created digital map is iteratively improved and can be used for validity testing of already existing digital maps of the driver assistance system.
Disclosure of Invention
It is an object of the embodiments of the invention to provide a method for determining whether a motor vehicle is driving on a road contained in digital map data, with which it is possible to reliably identify a new road not contained in the digital map data even if the distance between the new road not contained in the digital map data and the road contained in the digital map data is small.
The object is achieved by the subject matter of the respective subclaims. Further advantageous further developments are the subject matter of the dependent claims.
According to one embodiment of the invention, the object is achieved by a method for determining whether a motor vehicle is driving on a road contained in digital map data, wherein, during operation of the motor vehicle, at a first time instant, first absolute position data of the motor vehicle are detected by means of an absolute positioning system and first vehicle mileage data are detected by means of an odometer system of the motor vehicle, and, at least one further time instant which is different from the first time instant, further absolute position data of the motor vehicle are detected by means of the absolute positioning system and further vehicle mileage data are detected by means of the odometer system during operation of the motor vehicle. Subsequently, it is determined whether the motor vehicle is driving on a road comprised in the digital map material based on the digital map material, the first absolute position data, the first vehicle range data, the further absolute position data and the further vehicle range data and a map matching algorithm.
In this context, digital map data are understood to be map data in digital form, which contain geometric, topological and semantic information about the road traffic network and which can be used and processed by the navigation system of the motor vehicle and the driver assistance system of the motor vehicle. The digital map material can also be augmented with other information, such as speed settings (e.g., speed limits) or warning prompts. Here, the digital map data is updatable. The inclusion of roads in the digital map material means that the roads are included in a road traffic network that is included in the digital map material, that is to say that information about the roads, in particular geometric, but if appropriate also topological or semantic, is included in the digital map material.
Further, the absolute position data represent the measured position of the motor vehicle at a specific time in absolute terms, for example in the UTM or WGS84 reference coordinate system. Optionally, the absolute position data can also be provided with an orientation, which indicates, for example, the current direction of movement of the motor vehicle. The combination of position and orientation is generally referred to herein as a pose. The respective absolute positioning system can be, for example, a satellite-based technical device, such as a Global Positioning System (GPS) or GNSS.
In motor vehicles, an odometer is also understood to be a function that determines the position, orientation and driving state of the motor vehicle at a specific time. In this case, measured variables from the chassis, such as yaw sensor and wheel rotation and direction (e.g. wheel steering angle or steering wheel angle) of the steering device, are generally used as input variables. In vehicle navigation, odometers are used in addition to absolute position determination in order to bridge areas that are not received (e.g. tunnel sections) and to refine the GPS results. An odometer system is also understood here to be a system for detecting corresponding input parameters, for example the input parameters mentioned above.
In this case, the fact that the motor vehicle is driven on a road contained in the digital map material or on a road not contained in the digital map material means that the motor vehicle is driven on the respective road at least one time (at which the absolute position data and the vehicle range data are detected) and is always also driven on the respective road or leaves the respective road again during this time.
By taking into account, in addition to the absolute position data, the vehicle mileage data for identifying roads which are not contained in the digital map data, for example newly constructed roads, the accuracy of identification when identifying such roads can be significantly increased, in particular in the case of new or unknown roads extending in the vicinity of known roads contained in the digital map data. The reason for this improvement is that the vehicle mileage has a significantly higher accuracy of the distance traveled than the absolute position. In particular, the method enables new unknown roads to be identified automatically, which new unknown roads extend in the vicinity of known roads contained in the digital map material. Furthermore, it is advantageous for the identification that the errors of successive absolute positions, for example GNSS positions, are not independent of one another, but rather the positions usually have a constant offset. The identification can then be used to intervene in safety-critical situations (for example, in the case of an autonomously traveling motor vehicle traveling on an unknown road), wherein, on the basis of the identification, a corresponding reaction to avoid the safety-critical situation can be introduced.
In particular, the method may further comprise: if it is determined that the motor vehicle is not driving on the road contained in the digital map material, a safety-oriented action is initiated in order to directly respond to a potentially safety-critical reaction and to avoid said reaction. For example, corresponding warning messages can be output in order to warn the driver of the motor vehicle accordingly and increase the driver's attention to this situation, or to limit or disable individual driver assistance system functions, for example, to disable autonomous driving functions on unknown roads that are not contained in the digital map data.
In one embodiment, the step of determining whether the vehicle is traveling on a road contained in the digital map material comprises: determining an optimal route between a location characterized by first absolute location data and a location characterized by second absolute location data based on digital map data, wherein the second absolute location data is contained in the further absolute location data, i.e. the second absolute location data is detected during operation of the motor vehicle at least one further time different from the first time; determining a route length of the optimal route based on digital map data; and determining an actual traveled distance based on the first vehicle range data and second vehicle range data, wherein the second vehicle range data is detected at the same time as the second absolute position data. Subsequently, it is determined whether the motor vehicle is driving on the road contained in the digital map material by comparing the route length and the actual distance covered, wherein it is determined that the motor vehicle is not driving on the road contained in the digital map material if the route length has a strong deviation from the actual distance covered.
In this case, the fact that the course length deviates strongly from the actual distance covered means that the deviation of the course length from the actual distance covered is greater than a value which is only slight, in particular the deviation has a value outside the respective confidence interval.
Furthermore, the optimal route can be a shortest or fastest route between the location characterized by the first absolute location data and the location characterized by the second absolute location data, which is determined here in particular by the navigation system on the basis of digital map data. Here, it is advantageous to determine the fastest route if the position corresponding to the first absolute position data and the position corresponding to the second absolute position data have a large time interval and spatial interval from each other.
Overall, it is thus possible in a simple manner to determine whether a motor vehicle is driving on a road contained in the digital map material with little computing power and little computing time duration, which is required in order to be able to respond as directly as possible to safety-critical situations.
In this case, if the difference between the route length and the actually traveled distance is greater than or equal to 20m, the route length and the actually traveled distance have a strong deviation. Thus, a difference of 20m (that is to say a determined longitudinal offset of 20m or more from the road in the digital map material) is a reliable indicator or cue for an unknown new road in the case of a normal road width of between 2m and 5 m. Here, if the difference between the route length and the actually traveled distance is greater than or equal to 20m, the route length and the actually traveled distance have a strong deviation, however, this is only an exemplary embodiment. Rather, the values may also vary, for example due to the accuracy of the absolute positioning system used.
Furthermore, the further absolute position data and the further vehicle range data may be detected every 10 seconds after the first time during operation of the motor vehicle. The accuracy in determining whether a motor vehicle is driving on the road contained in the digital map data can be further increased by a correspondingly high frequency in the detection of the absolute position data and the vehicle mileage.
Further, the method may further include: checking whether the first absolute position data and the further absolute position data respectively characterize the position in the immediate vicinity of the road contained in the digital map material, wherein the step of determining whether the motor vehicle is driving on the road contained in the digital map material is only carried out if the first absolute position data and the further absolute position data respectively do not characterize the position in the immediate vicinity of the road contained in the digital map material.
The respective position in each case in the immediate vicinity of the road contained in the digital map data means that the respective distance is in each case within an acceptable tolerance based on the measurement accuracy of the absolute positioning system used and is, for example, less than or equal to 10 m.
By carrying out the step of determining whether the motor vehicle is travelling on the road contained in the digital map material only if the first absolute position data and the further absolute position data do not respectively characterize a position immediately adjacent to the road contained in the digital map material, the computational power in determining whether the motor vehicle is travelling on the road contained in the digital map material can be further reduced, in particular to such an extent that the method can also be carried out entirely by a generic control device and a corresponding processor contained in the motor vehicle.
In a further embodiment of the invention, a method for updating digital map data is also specified, wherein it is determined whether a first motor vehicle is traveling on a road contained in the digital map data by carrying out the above-described method, wherein, if it is determined that the first motor vehicle is not traveling on a road contained in the digital map data, the road on which the first motor vehicle is actually traveling is detected, and the digital map data is updated on the basis of the detection of the road on which the first motor vehicle is actually traveling.
In this case, the detection of the road on which the first motor vehicle is actually traveling means that the road is measured by other means in order to subsequently record the road in the digital map material. For precise measurement, it is possible to use, for example, a motor vehicle with other sensor devices, for example a differential global positioning system (DPGS).
Thus, a method is provided with which it is possible to reliably identify a new road not contained in the digital map material even if the distance between the new road not contained in the digital map material and the road contained in the digital map material is small, and to update the digital map material accordingly. By also being able to record unknown new roads with small distances to the roads contained in the digital map material into the digital map material, safety-critical situations can be reliably prevented if other motor vehicles are driven on the new roads in the future, and for example the driver assistance system can use and process the updated digital map material.
Here, if it is determined that: at least one further motor vehicle is also driven on the road on which the first motor vehicle is actually driven, and it is determined that: the digital map data may be updated if the at least one further motor vehicle is travelling on a road which is not included in the digital map data. Before recording a new road in the digital map material, a plurality of motor vehicles are first driven on the new road which is not contained in the digital map material and the new road is accordingly determined, which is a reliable indicator for the fact that there are new unknown roads which are not contained in the digital map material. Therefore, the accuracy of the method for updating the digital map material can be further improved.
In addition, in a further embodiment of the invention, a control device for determining whether a motor vehicle is traveling on a road contained in digital map data is provided, wherein the control device has: a receiver configured to receive absolute position data of a motor vehicle detected at a first time during operation of the motor vehicle, vehicle range data of the motor vehicle detected at the first time, absolute position data detected at least one further time different from the first time during operation of the motor vehicle, and vehicle range data detected at the at least one further time; and a determination unit configured for determining whether the motor vehicle is driving on a road contained in the digital map material based on the digital map material, the first absolute position data, the first vehicle range data, the further absolute position data and the further vehicle range data and a map matching algorithm.
Thus, a control device is provided with which it is possible to reliably identify a new road that is not contained in the digital map data, even if the distance between the new road that is not contained in the digital map data and the road that is contained in the digital map data is small. Thus, by taking into account vehicle mileage data in addition to absolute position data for identifying roads not included in the digital map data, such as newly constructed roads, the accuracy of identification when identifying such roads can be significantly improved, particularly in the case where a new or unknown road extends in the vicinity of a known road included in the digital map data. The reason for this improvement is that the vehicle mileage has a significantly higher accuracy of the distance traveled than the absolute position. In particular, it is possible to automatically identify new unknown roads which extend in the vicinity of known roads contained in the digital map data. Furthermore, it is advantageous for the identification that the errors of successive absolute positions, for example GNSS positions, are not independent of one another, but rather the positions usually have a constant offset. The identification can then be used to intervene in safety-critical situations (for example, in the case of an autonomously traveling motor vehicle traveling on an unknown road), wherein, on the basis of the identification, a corresponding reaction to avoid the safety-critical situation can be introduced.
The control device can further have an initiation unit (veralasungseinheit) which is designed to initiate a safety-oriented action in order to directly respond to potential safety-critical reactions and to avoid them, if it is determined in the determination unit that the motor vehicle is not driving on the road contained in the digital map data. The trigger unit may be, for example, a warning output device for outputting a corresponding warning message for warning the driver of the motor vehicle accordingly, or an actuator which is designed to limit or disable the function of an individual driver assistance system, for example, to disable an autonomous driving function on an unknown road which is not contained in the digital map data.
In one embodiment, the determination unit may further comprise a first unit, which is designed to determine an optimal route between a position of the vehicle, which is characterized by the first absolute position data, and a position of the vehicle, which is characterized by second absolute position data, which is contained in the further absolute position data, on the basis of the digital map material, a second unit, which is designed to determine a route length of the optimal route on the basis of the digital map material, a third unit, which is designed to determine an actual traveled distance on the basis of the first vehicle mileage data and a second vehicle mileage data, which is detected at the same time as the second absolute position data, and a fourth unit, which is designed to, determining whether the motor vehicle is driving on the road contained in the digital map material by comparing the route length and the actual distance covered, wherein the fourth unit is designed to determine that the motor vehicle is not driving on the road contained in the digital map material if the route length has a strong deviation from the actual distance covered.
The optimal route can in turn be the shortest or fastest route between the position of the motor vehicle characterized by the first absolute position data and the position of the motor vehicle characterized by the second absolute position data, which is determined by the navigation system on the basis of the digital map data. Here, it is advantageous to determine the fastest route if the position corresponding to the first absolute position data and the position corresponding to the second absolute position data have a large temporal and spatial separation from each other.
Overall, a control device is therefore specified with which it is possible in a simple manner to determine whether a motor vehicle is traveling on a road contained in digital map data with low computational power and low computational duration, wherein the low computational duration is required in order to be able to respond as directly as possible to safety-critical situations.
In this case, if the difference between the route length and the actually traveled distance is greater than or equal to 20m, the route length and the actually traveled distance have a strong deviation. Thus, a difference of 20m (that is to say a determined longitudinal offset of 20m or more from the road in the digital map material) is a reliable indicator or cue for an unknown new road in the case of a normal road width of between 2m and 5 m. Here, if the difference between the route length and the actually traveled distance is greater than or equal to 20m, the route length and the actually traveled distance have a strong deviation, however, this is only an exemplary embodiment. Rather, the values may also vary, for example due to the accuracy of the absolute positioning system used.
Furthermore, the control device may further comprise a checking unit configured to check: the first absolute position data and the further absolute position data respectively represent a position in the immediate vicinity of a road contained in the digital map material, wherein the determination unit is designed to determine whether a motor vehicle is traveling on the road contained in the digital map material only if the first absolute position data and the further absolute position data respectively do not represent a position in the immediate vicinity of a road contained in the digital map material.
The respective position in the immediate vicinity of the respective road contained in the digital map data here again means that the respective distance is in each case within an acceptable tolerance based on the measurement accuracy of the absolute positioning system used and is, for example, less than or equal to 10 m.
By virtue of the determination unit being designed to determine whether a motor vehicle is travelling on a road contained in the digital map material only if the first absolute position data and the further absolute position data do not respectively characterize a position immediately adjacent to the road contained in the digital map material, the computational power in the determination of whether a motor vehicle is travelling on a road contained in the digital map material can be further reduced, in particular to such an extent that the method can also be implemented entirely by a generic control device and a corresponding processor contained in the motor vehicle.
In addition, in another embodiment of the invention, a motor vehicle is provided, which has the above-described control device.
In this way, a motor vehicle is provided which has a control device with which it is possible to reliably identify a new road which is not contained in the digital map data, even if the distance between the new road which is not contained in the digital map data and the road contained in the digital map data is small. Thus, by taking into account vehicle mileage data in addition to absolute position data for identifying roads not included in the digital map data, such as newly constructed roads, the accuracy of identification when identifying such roads can be significantly improved, particularly in the case where a new or unknown road extends in the vicinity of a known road included in the digital map data. The reason for this improvement is that the vehicle mileage has a significantly higher accuracy of the traveled distance than the absolute position. In particular, it is possible to automatically identify new unknown roads which extend in the vicinity of known roads contained in the digital map data. Furthermore, it is advantageous for the identification that the errors of successive absolute positions, for example GNSS positions, are not independent of one another, but rather the positions usually have a constant offset. The identification can then be used to intervene in safety-critical situations (for example, in the case of an autonomously traveling motor vehicle traveling on an unknown road), wherein, on the basis of the identification, a corresponding reaction to avoid the safety-critical situation can be introduced.
In addition, in a further embodiment of the invention, a system for determining whether a motor vehicle is traveling on a road contained in digital map data is provided, wherein the system has: the control device described above; an absolute positioning system for detecting the first absolute position data and the further absolute position data; an odometry system of a motor vehicle for detecting the first vehicle mileage data and the additional vehicle mileage data; and a memory in which digital map data is stored.
Thus, a system is provided with a control device with which it is possible to reliably identify a new road not contained in the digital map data even if the distance between the new road not contained in the digital map data and the road contained in the digital map data is small. Thus, by taking into account vehicle mileage data in addition to absolute position data for identifying roads not included in the digital map data, such as newly constructed roads, the accuracy of identification when identifying such roads can be significantly improved, particularly in the case where a new or unknown road extends in the vicinity of a known road included in the digital map data. The reason for this improvement is that the vehicle mileage has a significantly higher accuracy of the distance traveled than the absolute position. In particular, it is possible to automatically identify new unknown roads which extend in the vicinity of known roads contained in the digital map data. Furthermore, it is advantageous for the identification that the errors of successive absolute positions, for example GNSS positions, are not independent of one another, but rather the positions usually have a constant offset. The identification can then be used to intervene in safety-critical situations (for example, in the case of an autonomously traveling motor vehicle traveling on an unknown road), wherein, on the basis of the identification, a corresponding reaction to avoid the safety-critical situation can be introduced.
In summary, it is ensured that with the invention a method for determining whether a motor vehicle is driving on a road contained in digital map data is provided, with which it is possible to reliably identify a new road not contained in the digital map data even if the distance between the new road not contained in the digital map data and the road contained in the digital map data is small.
In particular, the method presented makes it possible to automatically detect new unknown roads that extend in the vicinity of known roads contained in the digital map data.
The presented identification can also be used to intervene in safety-critical situations (for example, in the case of an autonomously traveling motor vehicle traveling on an unknown road), wherein, on the basis of the identification, a corresponding reaction to avoid the safety-critical situation can be introduced.
The method can also be designed such that it can be determined in a simple manner with little computing power and a low computing duration whether the motor vehicle is driving on the roads contained in the digital map material, wherein the low computing duration is required in order to be able to respond as directly as possible to safety-critical situations.
Drawings
The invention will now be explained in more detail with the aid of the accompanying drawings.
Fig. 1 shows a flow chart of a method for determining whether a motor vehicle is driving on a road contained in digital map material according to an embodiment of the invention;
FIG. 2 illustrates a method for determining whether a vehicle is traveling on a road contained in digital map material, according to one embodiment of the invention;
fig. 3 shows a system for determining whether a motor vehicle is driving on a road contained in digital map material, according to an embodiment of the invention.
Detailed Description
Fig. 1 shows a flow chart of a method 1 for determining whether a motor vehicle is driving on a road contained in digital map material according to an embodiment of the invention.
As shown in fig. 1, method 1 has: step 2, detecting first absolute position data of the motor vehicle by means of an absolute positioning system and first vehicle mileage data by means of an odometer system of the motor vehicle at a first time during operation of the motor vehicle; and a step 3 of detecting, during the operation of the motor vehicle, at least one further moment different from the first moment, further absolute position data of the motor vehicle by means of the absolute positioning system and further vehicle mileage data by means of the odometer system. Subsequently in a further step 4, it is determined whether a motor vehicle is driving on the road contained in the digital map material on the basis of the digital map material, the first absolute position data, the first vehicle range data, the further absolute position data and the further vehicle range data.
In general, data of an absolute positioning system of a motor vehicle, for example position data obtained by means of a Global Navigation Satellite System (GNSS), are used in order to identify whether the motor vehicle is located on a road contained in digital map data or whether the motor vehicle has already traveled the road, or in order to identify new roads which have not been contained in the digital map data so far. The vehicle position determined via the GNSS receiver is mapped on a road network of a digital map, for example, using a map matching method. However, it has proven to be disadvantageous here that the unknown road not contained in the digital map data can only be reliably identified if it is at a large distance, for example a distance of more than 100m, from the already known road contained in the digital map data. However, if the distance to a known road is small and this distance is less than 100m, for example, it cannot be reliably determined whether the motor vehicle is located or is already located on the road contained in the digital map material.
By taking into account, in addition to the absolute position data, the vehicle mileage data for identifying roads which are not contained in the digital map material, for example newly constructed roads, it is now possible to significantly improve the accuracy of identification when identifying such roads, in particular in the case of new or unknown roads extending in the vicinity of known roads contained in the digital map material and in particular in the case of distances between the two roads of less than 100 m. The reason for this improvement is that the vehicle mileage has a significantly higher accuracy of the distance traveled than the absolute position. In particular, it is fully possible by means of the method 1 to automatically identify new unknown roads which extend in the vicinity of known roads contained in the digital map material. Furthermore, it is advantageous for the identification that the errors of successive absolute positions, for example GNSS positions, are not independent of one another, but rather the positions usually have a constant offset. The identification can then be used to intervene in safety-critical situations (for example, in the case of an autonomously traveling motor vehicle traveling on an unknown road), wherein, on the basis of the identification, a corresponding reaction to avoid the safety-critical situation can be introduced.
The step 4 of determining whether the motor vehicle is travelling on the road contained in the digital map material can be carried out here on a host computer or a server, for example on a server of a provider who provides the digital map material, and the absolute position data and the vehicle mileage data have already been transmitted to the provider. Furthermore, the steps can also be carried out by a control device integrated into the motor vehicle if the respective control device has the necessary computing power.
The digital map material may also be stored in the motor vehicle itself and backed up, or it may be stored only on a host computer or server, for example on a server of a provider that provides the digital map material.
Furthermore, the optimal parameters of method 1 are related to the measurement accuracy of the absolute positioning system and the accuracy of the odometer measurements. To determine the optimal parameters, partial sections can be removed from the digital map, for example, and the method 1 can be tested in terms of historical vehicle trajectories. In this case, an F-metric can be used as a measure of the quality of the method, which combines the accuracy and the number of hits of the newly identified link.
According to the embodiment of fig. 1, the method further comprises step 5: if it is determined that the vehicle is not driving on the road contained in the digital map material, a safety-oriented action is triggered. For example, corresponding warning messages can be output in order to warn the driver of the motor vehicle accordingly and increase the driver's attention to this situation, or to limit or disable the functionality of individual driver assistance systems, for example to disable the autonomous driving function on unknown roads which are not contained in the digital map data.
As shown in fig. 1, the step 4 of determining whether the vehicle is travelling on a road contained in the digital map material based on the digital map material, the first absolute position data, the first vehicle range data, the further absolute position data and the further vehicle range data comprises: step 6, determining an optimal route between a location characterized by first absolute location data and a location characterized by second absolute location data based on digital map material, wherein the second absolute location data is comprised in the further absolute location data; step 7, determining the route length of the optimal route; and step 8 of determining an actual distance covered based on the first vehicle mileage data and second vehicle mileage data, wherein the second vehicle mileage data has been detected at the same time as the second absolute position data. Subsequently, in step 9 it is determined whether the motor vehicle is driving on the road contained in the digital map material by comparing the route length with the actual distance covered, wherein the motor vehicle is not driving on the road contained in the digital map material if the route length deviates strongly from the actual distance covered.
Furthermore, the optimal route can be a shortest or fastest route between the location characterized by the first absolute location data and the location characterized by the second absolute location data, which is determined here in particular by the navigation system on the basis of digital map data. Here, it is advantageous to determine the fastest route if the position corresponding to the first absolute position data and the position corresponding to the second absolute position data have a large time interval and spatial interval from each other. Furthermore, the calculation of the fastest route can be carried out, for example, using the average historical travel time, which is stored in a digital map or digital map material.
According to the embodiment of fig. 1, the course length deviates strongly from the actual traveled distance if the difference between the course length and the actual traveled distance is greater than or equal to 20 m.
Furthermore, additional absolute position data and additional vehicle range data are detected every 10 seconds after the first time. It is to be noted in particular that inaccuracies in the measurement of the vehicle position, in particular longitudinal deviations of the measured position from the actual position on the road, are more strongly pronounced if the absolute position data or vehicle position data are detected at a higher, in particular too high, frequency, for example 1 Hz.
As can be seen, the method 1 further comprises a step 10 of: checking whether the first absolute position data and the further absolute position data respectively characterize the position in the immediate vicinity of the road contained in the digital map material, wherein the step 4 of determining whether the motor vehicle is driving on the road contained in the digital map material is only carried out if the first absolute position data and the further absolute position data respectively do not characterize the position in the immediate vicinity of the road contained in the digital map material. However, if it is determined that: said first absolute position data and said further absolute position data respectively characterizing the position in the immediate vicinity of the road comprised in the digital map material, the method 1 returns to step 2, according to the embodiment of fig. 1: during operation of the motor vehicle, at a first time, first absolute position data of the motor vehicle are detected by means of an absolute positioning system and first vehicle mileage data are detected by means of an odometer system of the motor vehicle. It is noted, however, that, as mentioned above, in the embodiment according to fig. 1, also every 10 seconds after the first moment in time further absolute position data and further vehicle range data are detected in case the first absolute position data and the further absolute position data do not respectively characterize the position immediately adjacent to the road contained in the digital map material.
As shown in fig. 1, the method 1 here further comprises: step 1, if it is determined that the motor vehicle does not travel on the road included in the digital map data, detecting a road on which the motor vehicle actually travels; and step 12, updating the digital map data based on the detection of the road on which the motor vehicle actually travels.
In this case, the detection of the road on which the first motor vehicle is actually traveling means that the road is measured by other means in order to subsequently be recorded in the digital map material. For precise measurement, it is possible to use, for example, a motor vehicle with other sensor devices, for example a differential global positioning system (DPGS).
In particular, the digital map material can be updated if it is determined that at least one further vehicle is also travelling on the road on which the first motor vehicle is actually travelling and that the at least one further vehicle is travelling on a road which is not contained in the digital map material. A good indicator for a new road not included in the digital map data is that the road is "recognized" more than 10 times within a week, for example.
Fig. 2 shows a method 20 for determining whether a motor vehicle is traveling on a road contained in digital map data according to an embodiment of the invention.
Fig. 2 shows two roads 21, 22 which run parallel and are contained in the digital map material, and a connecting road 23 which connects the two roads 21, 22 and is also contained in the digital map material.
The motor vehicle is in the first position provided with the reference numeral 24 at the time t1, the motor vehicle is in the second position provided with the reference numeral 25 at the subsequent time t2, and the motor vehicle is in the third position provided with the reference numeral 26 at the subsequent time t 3. In addition, absolute position data of the motor vehicle and vehicle range data are detected at times t1, t2, and t3, respectively.
The detected absolute position data is then mapped via a map matching component onto road material contained in the digital map material, wherein this results in: it is assumed that the motor vehicle is located at the four positions provided with the reference numeral 27 on the connecting link 23 included in the digital map material at the time t2, and the motor vehicle is located at the five positions provided with the reference numeral 28 on the connecting link 23 included in the digital map material at the time t 3.
Subsequently, the route length of the shortest route between position one and position five, which extends over position four, is determined, wherein in the embodiment of fig. 2 the route length is 100 m. Furthermore, the actual distance covered between the first and third positions is determined from the detected vehicle range data, wherein in the exemplary embodiment of fig. 2 the actual distance covered is 122 m.
The length of the route therefore deviates strongly from the actual distance covered, in particular by more than 20m, which can be an indication that the motor vehicle is located on a new road which is not included in the digital map data. The new road, which is not contained in the digital map material, is symbolized here in fig. 2 by a dashed line provided with reference numeral 29.
Fig. 3 shows a system 30 for determining whether a motor vehicle is driving on a road contained in digital map material, according to an embodiment of the invention.
As shown in fig. 3, the system has a control device 31 for determining whether a motor vehicle is driving on a road contained in digital map data, an absolute positioning system 32, an odometer system 33 for the motor vehicle, and a memory 34, in which the digital map data are stored.
The absolute position data represent the measured position of the motor vehicle at a specific time in absolute terms, for example in the UTM or WGS84 reference coordinate system. Optionally, the absolute position data can also be provided with an orientation, which indicates the current direction of movement of the motor vehicle, for example. The combination of position and orientation is generally referred to herein as a pose. The absolute positioning system 32 may be a satellite-based technical device, such as a Global Positioning System (GPS) or GNSS, for example.
In motor vehicles, an odometer is also understood to be a function that determines the position, orientation and driving state of the motor vehicle at a specific time. In this case, measured variables from the chassis, such as yaw sensor and wheel rotation and direction (e.g. wheel steering angle or steering wheel angle) of the steering device, are generally used as input variables. In vehicle navigation, odometers are used in addition to absolute position determination in order to bridge areas that are not received (e.g. tunnel sections) and to refine the GPS results. The odometer system 33 is also understood here as a system for detecting corresponding input parameters, for example the input parameters mentioned above.
The memory 34 is, for example, a writable memory, such as a Random Access Memory (RAM).
According to the embodiment of fig. 3, the control device 31 for determining whether a motor vehicle is driving on a road contained in the digital map material has: a receiver 35 configured for receiving absolute position data of the motor vehicle detected by the absolute positioning system 32 at a first time during operation of the motor vehicle, vehicle range data of the motor vehicle detected at the first time, absolute position data detected at least one further time different from the first time during operation of the motor vehicle, and vehicle range data detected at the at least one further time; and a determination unit 36, which is configured to determine whether the motor vehicle is driving on a road contained in the digital map material on the basis of the digital map material, the first absolute position data, the first vehicle range data, the further absolute position data and the further vehicle range data and a map matching algorithm.
The receiver 35 may be a transceiver, for example. The determination unit 36 may also be a computing unit on which the corresponding code is stored, for example a server or a control device of the motor vehicle, that is to say a computing unit integrated into the motor vehicle itself.
As shown in fig. 3, the control device 31 shown further has an initiation unit 37, which is configured for: if it is determined in the determination unit 36 that the motor vehicle is not driving on the road contained in the digital map material, a safety-oriented action is initiated. The prompting unit 37 can be, for example, a warning output device for outputting a corresponding warning message in order to warn the driver of the motor vehicle accordingly and to increase the driver's attention to this situation, or an actuator which is designed to limit or disable the function of an individual driver assistance system, for example to disable an autonomous driving function on an unknown road which is not contained in the digital map material.
According to the embodiment of fig. 3, the determination unit 36 further has a first unit 38, which is designed for determining an optimum route between a location characterized by first absolute position data, which is contained in the further absolute position data, and a location characterized by second absolute position data, which is designed for determining a route length of the optimum route on the basis of digital map data, a second unit 39, which is designed for determining an actual traveled distance on the basis of the digital map data, a third unit 40, which is designed for determining an actual traveled distance on the basis of the first vehicle mileage data and a second vehicle mileage data, which is detected at the same time as the second absolute position data, and a fourth unit 41, by comparing the route length with the actual distance covered, it is determined whether the motor vehicle is driving on the road contained in the digital map material, wherein the fourth unit 41 is designed to determine that the motor vehicle is not driving on the road contained in the digital map material if the route length deviates strongly from the actual distance covered.
The first unit 38 and the second unit 39 can be, for example, respective units of a vehicle navigation system. The third unit 40 and the fourth unit 41 can in turn each be a computing unit on which a corresponding code is stored, for example a server or a control device of the motor vehicle, that is to say a computing unit integrated into the motor vehicle itself.
According to the embodiment of fig. 3, the control device 31 further comprises a checking unit 42 configured for checking: the first absolute position data and the further absolute position data each represent a position in the immediate vicinity of the road contained in the digital map material, wherein the determination unit 36 is designed to determine whether the motor vehicle is driving on the road contained in the digital map material only if the first absolute position data and the further absolute position data do not represent a position in the immediate vicinity of the road contained in the digital map material.
The checking unit 42 may in turn be a computing unit, for example a server or a control device of the motor vehicle, that is to say a computing unit integrated into the motor vehicle itself, on which the corresponding code is stored.
Claims (15)
1. Method for determining whether a motor vehicle is driving on a road contained in digital map material, wherein the method (1, 20) comprises the following steps:
-detecting first absolute position data of the motor vehicle by means of an absolute positioning system and first vehicle mileage data (2) by means of an odometer system of the motor vehicle at a first time instant during operation of the motor vehicle;
-detecting further absolute position data of the motor vehicle by means of an absolute positioning system and further vehicle mileage data (3) by means of an odometer system at least one further moment during operation of the motor vehicle different from the first moment;
-determining (4) whether the motor vehicle is driving on a road comprised in digital map data based on the digital map data, the first absolute position data, the first vehicle range data, the further absolute position data and the further vehicle range data and a map matching algorithm.
2. The method according to claim 1, wherein the method (1) further comprises the steps of:
-if it is determined that the vehicle is not driving on the road contained in the digital map material, causing an action (5) for safety.
3. A method according to claim 1 or 2, wherein the step (4) of determining whether the vehicle is travelling on a road contained in the digital map material comprises the steps of:
-determining an optimal route between a location of the motor vehicle characterized by the first absolute location data and a location of the motor vehicle characterized by second absolute location data based on digital map material, the second absolute location data being comprised in the further absolute location data (6);
-determining a route length (7) of the optimal route based on digital map material;
-determining an actual travelled distance based on the first and second vehicle range data, the second vehicle range data being detected (8) at the same time as the second absolute position data;
-determining whether the vehicle is driving on a road comprised in the digital map material by comparing the route length with the actual distance travelled (9), and determining that the vehicle is not driving on a road comprised in the digital map material if the route length has a strong deviation from the actual distance travelled.
4. The method according to claim 3, wherein the course length has a strong deviation from the actual traveled distance if the difference between the course length and the actual traveled distance is greater than or equal to 20 m.
5. A method according to any one of claims 1 to 4, wherein further absolute position data and further vehicle range data are detected every 10 seconds after the first time instant during operation of the motor vehicle.
6. The method of any of claims 1 to 5, wherein the method (1) further comprises: checking whether the first absolute position data and the further absolute position data respectively characterize the position in the immediate vicinity of the road contained in the digital map material (10), the step of determining whether the motor vehicle is driving on the road contained in the digital map material (4) being carried out only if the first absolute position data and the further absolute position data respectively do not characterize the position in the immediate vicinity of the road contained in the digital map material.
7. Method for updating digital map material, wherein the method comprises the steps of:
-determining whether a first motor vehicle is travelling on a road contained in digital map material by implementing a method (1, 20) according to any one of claims 1 to 6;
-detecting a road (11) on which the first motor vehicle is actually travelling if it is determined that the first motor vehicle is not travelling on a road contained in the digital map material;
-updating the digital map material (12) based on the road on which the first motor vehicle is actually travelling.
8. The method of claim 7, wherein the digital map material is updated if it is determined that at least one additional vehicle is also traveling on the road on which the first vehicle is actually traveling and it is determined that the at least one additional vehicle is traveling on a road that is not included in the digital map material.
9. Control device for determining whether a motor vehicle is driving on a road contained in digital map material, wherein the control device (31) comprises: a receiver (35) configured to receive absolute position data of the motor vehicle detected at a first time during operation of the motor vehicle, vehicle range data of the motor vehicle detected at the first time, absolute position data detected at least one further time different from the first time during operation of the motor vehicle, and vehicle range data detected at the at least one further time; and a determination unit (36) configured for determining whether the motor vehicle is driving on a road contained in the digital map material based on the digital map material, the first absolute position data, the first vehicle range data, the further absolute position data and the further vehicle range data and a map matching algorithm.
10. The control device according to claim 9, wherein the control device further comprises an causing unit (37) configured for causing an action for safety if it is determined in the determining unit (36) that the motor vehicle is not driving on the road contained in the digital map material.
11. The control device according to claim 9 or 10, wherein the determination unit (36) further comprises a first unit (38) configured for determining an optimal route between a position of the motor vehicle characterized by the first absolute position data and a position of the motor vehicle characterized by second absolute position data contained in the further absolute position data based on digital map data, a second unit (39) configured for determining a route length of the optimal route based on digital map data, a third unit (40) configured for determining an actual traveled distance based on the first vehicle data and second vehicle data, and a fourth unit (41) detected at the same time as the second absolute position data, the fourth unit is designed to determine whether the motor vehicle is driving on a road contained in the digital map material by comparing the route length with the actual distance covered, and the fourth unit (41) is designed to determine that the motor vehicle is not driving on a road contained in the digital map material if the route length deviates strongly from the actual distance covered.
12. The control device according to claim 11, wherein the course length has a strong deviation from the actual traveled distance if a difference between the course length and the actual traveled distance is greater than or equal to 20 m.
13. The control device according to any one of claims 9 to 12, wherein the control device (31) further comprises a checking unit (42) configured to check whether the first absolute position data and the further absolute position data respectively characterize a position immediately adjacent to a road contained in the digital map material, the determination unit (36) being configured to determine whether the motor vehicle is driving on the road contained in the digital map material only if the first absolute position data and the further absolute position data respectively do not characterize a position immediately adjacent to a road contained in the digital map material.
14. Motor vehicle having a control device according to one of claims 9 to 13.
15. System for determining whether a motor vehicle is driving on a road contained in digital map material, wherein the system (30) has: the control device (31) according to any one of claims 9 to 13; an absolute positioning system (32) for detecting absolute position data of the motor vehicle; an odometer system (33) of the motor vehicle for detecting vehicle mileage data of the motor vehicle; and a memory (34) in which digital map data is stored.
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